#pragma once
#include "rclcpp/rclcpp.hpp"
#include "libbase/common.h"
#include <base_interfaces/msg/armors.hpp>
#include <chrono>

namespace wmj
{
    class ArmorSim : public rclcpp::Node
    {   
        public:
           ArmorSim(std::string name);
        private:
            rclcpp::Publisher<base_interfaces::msg::Armors>::SharedPtr armors_pub;
            rclcpp::TimerBase::SharedPtr timer_ptr_;

            double palstance = 0.8 * PI;
            double radius = 0.25685;
            double center_x;
            double center_y;
            double center_z;

            double armor_num;
            double angle;

            void init();
            void Outpost();
            void armor_callback();

    };
    
}